Flexible turning ground handling robot

Abstract

The present invention provides a flexible turning ground processing robot. The flexible turning ground processing robot includes a driving vehicle, a connecting bracket and a ground processing mechanism. The driving vehicle includes a vehicle body and a movable driving member installed on the vehicle body. The first end of the connecting bracket is rotatably installed on the vehicle body along a vertical axis, and the ground processing mechanism is fixedly installed on the second end of the connecting bracket. Since the first end of the connecting bracket is rotatably installed on the vehicle body along a vertical axis, when the ground processing robot turns, the driving vehicle turns first, and the ground processing mechanism lags behind the driving vehicle. During the process of turning and moving straight by the driving vehicle, the ground processing mechanism will gradually turn to achieve a smooth transition of the ground processing mechanism, and finally be consistent with the moving direction of the driving vehicle. In this way, the problem of poor construction effect on the concrete floor caused by the excessively fast movement speed of part of the ground processing mechanism is avoided, which is helpful for the ground forming effect and ensures the construction effect of the ground processing robot.

Description

Technical Field

[0001] The invention relates to the technical field of construction equipment, and in particular to a flexible turning ground processing robot. Background Art

[0002] As the requirements for building quality become higher and higher, the quality of floor molding is particularly important, which is directly related to the feasibility of subsequent new processes and methods, such as new thin-layer tile laying processes and wood floor installation without secondary leveling technology. At present, high-precision floors are mainly polished and re-measured manually, and are constantly corrected until the target requirements are met. This is inefficient, seriously affecting the overall construction period, and the labor cost is high. In addition, due to the different technical levels of different workers, the effects of high-precision floors are also uneven and vary greatly.

[0003] At present, there are also automated leveling machines on the market, which generally use the body to drive the leveling mechanism to move on the concrete floor, so that the leveling mechanism can level the floor. However, since the body and the leveling mechanism of the above-mentioned leveling machine are relatively fixed in the vertical axis direction, when the leveling machine turns, the leveling mechanism and the leveling machine turn quickly together, causing some bulges on the ground to be directly lifted up by the leveling mechanism, resulting in poor concrete floor construction effect when turning. Summary of the invention

[0004] The main purpose of the present invention is to provide a flexible turning ground processing robot to solve the technical problem that the automatic leveling machine in the prior art has a poor construction effect on the ground concrete floor when turning.

[0005] In order to achieve the above-mentioned objectives, the present invention provides a flexible turning ground processing robot, comprising: a driving vehicle, including a vehicle body and a movable driving member installed on the vehicle body; a connecting bracket, the first end of the connecting bracket is rotatably installed on the vehicle body along a vertical axis; and a ground processing mechanism is fixedly installed on the second end of the connecting bracket.

[0006] In one embodiment, the first end of the connecting bracket is connected to the vehicle body via a first quick-release structure.

[0007] In one embodiment, the first quick-release structure includes a clamping groove provided on the vehicle body and a clamping block provided at the first end of the connecting bracket, and the first end of the connecting bracket is rotatably connected to the clamping block along a vertical axis.

[0008] In one embodiment, the second end of the connecting bracket is connected to the ground handling mechanism via a second quick-release structure.

[0009] In one embodiment, the ground processing mechanism includes a leveling mechanism and a trowel mechanism, and the connecting bracket can be selectively connected to the leveling mechanism or to the trowel mechanism through a second quick-release structure.

[0010] In one embodiment, there are multiple types of leveling mechanisms, and the connecting bracket can be selectively connected to one of the multiple leveling mechanisms through a second quick-release structure.

[0011] In one embodiment, there are multiple types of smoothing mechanisms, and the connecting bracket can be selectively connected to one of the multiple smoothing mechanisms through a second quick-release structure.

[0012] In one embodiment, the leveling mechanism includes: a frame body; two lifting drive members installed at intervals on the frame body; a scraper connected to the driving ends of the two lifting drive members through ball pairs, and the two lifting drive members are used to drive the scraper to move in the vertical direction.

[0013] In one embodiment, the connecting bracket includes: a fixed frame and a driving frame, the fixed frame is rotatably mounted on the vehicle body along a vertical axis, and the driving frame is connected to a ground handling mechanism; a main connecting rod and a secondary connecting rod, the main connecting rod is respectively hinged at a first end of the fixed frame and a first end of the driving frame, and the secondary connecting rod is respectively hinged at a second end of the fixed frame and a second end of the driving frame; a telescopic driving member, the first end of the telescopic driving member is hinged to the fixed frame, and the second end of the telescopic driving member is hinged to the main connecting rod or the secondary connecting rod, and the fixed frame, the driving frame, the main connecting rod and the secondary connecting rod form a four-bar linkage.

[0014] In one embodiment, one of the main connecting rod and the secondary connecting rod is connected to the fixed frame through a revolute joint, the other of the main connecting rod and the secondary connecting rod is connected to the fixed frame through a ball joint, the main connecting rod and the secondary connecting rod are respectively connected to the driving frame through ball joints, and the fixed frame, the driving frame, the main connecting rod and the secondary connecting rod form a four-bar linkage.

[0015] In one embodiment, the connecting bracket also includes a movable hinge rod, a first end of the movable hinge rod is pivotally connected to one of the main connecting rod and the secondary connecting rod along a direction perpendicular to the plane where the connecting bracket is located, and a second end of the movable hinge rod is pivotally connected to the driving frame along the plane where the connecting bracket is located, and the movable hinge rod and the pivot connection structure at both ends of the movable hinge rod form a ball joint.

[0016] By applying the technical solution of the present invention, since the first end of the connecting bracket is rotatably mounted on the vehicle body along the vertical axis, when the ground processing robot turns, the driving vehicle turns first, and the ground processing mechanism lags behind the driving vehicle. During the turning and straight-moving process of the driving vehicle, the ground processing mechanism will gradually turn, achieving a smooth transition of the ground processing mechanism, and finally being consistent with the moving direction of the driving vehicle. In this way, the problem of poor construction effect on the concrete floor caused by the excessive speed of part of the ground processing mechanism is avoided, which is helpful for the ground shaping effect and ensures the construction effect of the ground processing robot.

[0017] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 It shows a schematic structural diagram of a mounting and leveling mechanism of a flexible turning ground processing robot according to the present invention;

[0020] Figure 2 Shows Figure 1 A schematic diagram of the front structure of a flexible turning ground handling robot;

[0021] Figure 3 Shows Figure 2 A partially enlarged structural schematic diagram of a flexible turning ground handling robot;

[0022] Figure 4 Shows Figure 1 An enlarged structural diagram of a first quick-release structure of a flexible turning ground handling robot;

[0023] Figure 5 Shows Figure 1 A schematic diagram of the structure of a connecting bracket of a flexible turning ground handling robot;

[0024] Figure 6 Shows Figure 1 A schematic diagram of the steering structure of a flexible turning ground handling robot;

[0025] Figure 7 It shows a schematic structural diagram of a mounting and leveling mechanism of a flexible turning ground processing robot according to the present invention;

[0026] Figure 8 Shows Figure 5 A structural schematic diagram of a twisted state of a connecting bracket;

[0027] Fig. 9 Shows Figure 8 A left-side structural schematic diagram of a connecting bracket;

[0028] Fig.10 A schematic diagram of the travel of a leveling machine in the prior art when turning is shown;

[0029] Fig.11 Shows Fig.10 A trajectory diagram of the leveling mechanism of the leveling machine in the prior art when turning;

[0030] Fig.12 A schematic diagram showing the movement of the flexible turning ground handling robot according to the present invention when turning;

[0031] Fig.13 Shows Fig.12 Trajectory diagram of the ground handling mechanism of the flexible turning ground handling robot. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0036] Figure 1 , Figure 2 and Figure 4An embodiment of a flexible turning ground handling robot of the present invention is shown, which includes a driving vehicle 10, a connecting bracket 20 and a ground handling mechanism. The driving vehicle 10 includes a vehicle body 11 and a movable driving member 12 installed on the vehicle body 11. The first end of the connecting bracket 20 is rotatably installed on the vehicle body 11 along a vertical axis, and the ground handling mechanism is fixedly installed on the second end of the connecting bracket 20.

[0037] In the technical solution of the present invention, Figure 6 As shown, since the first end of the connecting bracket 20 is rotatably mounted on the vehicle body along the vertical axis, when the ground processing robot turns, the driving vehicle 10 turns first, and the ground processing mechanism lags behind the driving vehicle 10. During the turning and straight-moving process of the driving vehicle 10, the ground processing mechanism will gradually turn, achieving a smooth transition of the ground processing mechanism, and finally being consistent with the moving direction of the driving vehicle 10. In this way, the problem of poor construction effect on the concrete floor caused by the excessive speed of part of the ground processing mechanism is avoided, which is conducive to the ground shaping effect and ensures the construction effect of the ground processing robot.

[0038] Specifically, Fig.10 and Fig.11 As shown, if the above-mentioned towing structure of the present invention is not adopted, when the driving vehicle 10 turns, the lateral displacement of the ground treatment mechanism is relatively large, and the concrete is easily turned up, damaging the treatment surface. Fig.12 and Fig.13 As shown, due to the adoption of the above-mentioned towing structure, when turning, the lateral displacement of the ground processing mechanism is relatively small, and it can make circular motion along one side of the vibration plate, which is helpful for the ground shaping effect and ensures the construction effect of the ground processing robot.

[0039] In the technical solution of the present invention, the mobile driving member 12 is a wheel. As another optional implementation, the mobile driving member 12 may also be a track.

[0040] As a preferred embodiment, the first end of the connecting bracket 20 is connected to the vehicle body 11 through a first quick-release structure 30, so as to facilitate transportation and lifting, and to be assembled on site before construction for construction. Preferably, in the technical solution of this embodiment, the first quick-release structure 30 includes a snap-in groove 31 provided on the vehicle body 11 and a snap-in block 32 provided at the first end of the connecting bracket 20, and the first end of the connecting bracket 20 is rotatably connected to the snap-in block 32 along a vertical axis. As an optional embodiment, Figure 4 As shown, the clamping groove 31 is a dovetail groove, and the clamping block 32 is a T-shaped block matched with the dovetail groove. As an optional embodiment not shown in the figure, the first quick-release structure 30 can also be a bayonet-type quick-release matching structure.

[0041] Preferably, in the technical solution of this embodiment, the second end of the connecting bracket 20 is connected to the ground processing mechanism through the second quick-release structure 40. Similarly, this can also be disassembled at the construction site to facilitate replacement of the ground processing mechanism.

[0042] like Figure 1 and Figure 7 As shown, in the technical solution of this embodiment, the ground processing mechanism includes a leveling mechanism 50 and a smoothing mechanism 60, and the connecting bracket 20 can be selectively connected to the leveling mechanism 50 or the smoothing mechanism 60 through the second quick-release structure 40. In this way, the corresponding ground processing mechanism can be selected according to different working conditions. When the ground needs to be leveled at the beginning, the driving vehicle 10 is connected to the leveling mechanism 50, so that the leveling mechanism 50 can realize the preliminary leveling work of the ground; then the driving vehicle 10 can be selected to be connected to the smoothing mechanism 60, so that the smoothing mechanism 60 can realize the smoothing or smoothing process of the ground. In this way, only one set of products of the present invention can meet the construction requirements of different processes of concrete floor construction and control the cost of concrete floor construction. Preferably, there are multiple types of leveling mechanisms 50, and the connecting bracket 20 can be selectively connected to one of the multiple leveling mechanisms 50 through the second quick-release structure 40. More preferably, there are multiple types of smoothing mechanisms 60, and the connecting bracket 20 can be selectively connected to one of the multiple smoothing mechanisms 60 through the second quick-release structure 40. In this way, different leveling mechanisms 50 and trowel mechanisms 60 can be replaced, and they can be easily replaced after wear, thereby improving the versatility and maintainability of the product. The specific leveling mechanism 50 can be of different serialized lengths, and different operating ranges can be achieved after replacement. In open areas, longer vibrating plates and scrapers can be used to increase the operating speed, and in narrow areas and complex environments with many obstacles, shorter vibrating plates and scrapers can be used to ensure driving flexibility, thereby improving the versatility of the leveler.

[0043] In the technical solution of this embodiment, the second quick-release structure 40 is a plum screw, which can realize the quick replacement of the leveling mechanism 50. As other optional implementations, the second quick-release structure 40 can also be a quickly detachable screw, quick-release pin or other structure, which can be packaged and transported or hoisted separately during transportation and hoisting.

[0044] like Figure 1 , Figure 2 and Figure 3As shown, the leveling mechanism 50 includes a frame body 51, two lifting driving members 52 and a scraper 53, the two lifting driving members 52 are installed on the frame body at intervals, and the scraper 53 is connected to the driving ends of the two lifting driving members 52 through ball pairs. When in use, the scraper 53 is driven to move in the vertical direction by the two lifting driving members 52, so as to adjust the height of the scraper 53 in the vertical direction and level the paved concrete to the designed elevation. In the past, the scraper was driven to move in the vertical direction by the two lifting driving members, and the driving ends of the scraper and the lifting driving members were basically connected by an articulated shaft. In this way, when the driving ends of the two lifting driving members are extended out of sync, the connecting rod formed by the two lifting driving members and the scraper will be stuck. In the technical solution of the present invention, the scraper 53 is connected to the driving ends of the two lifting driving members 52 through ball pairs, so that the connecting rod formed by the two lifting driving members and the scraper can still move, thereby avoiding the problem of the scraper 53 being stuck. More preferably, the leveling mechanism 50 further includes a laser receiving mechanism, which includes a vertical rod and a laser receiver mounted on the vertical rod, and the vertical rod is detachably mounted on the leveling mechanism. Figure 1 As shown, there are two laser receivers and poles. The laser receiver is installed on the pole, and the lower end of the pole is fixed on the scraper. The laser receiver receives the laser of fixed height emitted by the laser transmitter, and can measure its relative height to the laser, which can be converted into the relative height of the scraper. This relative height is compared with the set value, and the adjustment amount of the scraper height and posture can be calculated according to the deviation.

[0045] It should be noted that in the technical solution of the present invention, the driving vehicle 10 also includes a remote control module, which can be remotely controlled to avoid the operator entering the concrete being poured, greatly improve the working environment, and reduce the interference with the surface quality of the concrete. The remote control module consists of a control handle and a receiver installed on the vehicle body 11. The user can issue control instructions such as forward, backward, left turn, right turn, acceleration, deceleration, etc. through the control handle. The control handle communicates with the receiver wirelessly. After receiving the instruction, the receiver sends it to the whole machine control system to make corresponding actions.

[0046] like Figure 5As shown, in the technical solution of this embodiment, the connecting bracket 20 includes a fixed frame 21, a driving frame 22, a main connecting rod 23, a secondary connecting rod 24 and a telescopic driving member 25. The fixed frame 21 is rotatably mounted on the vehicle body along the vertical axis. The driving frame 22 is connected to the ground processing mechanism. The main connecting rod 23 is respectively hinged at the first end of the fixed frame 21 and the first end of the driving frame 22. The secondary connecting rod 24 is respectively hinged at the second end of the fixed frame 21 and the second end of the driving frame 22. The fixed frame 21, the driving frame 22, the main connecting rod 23 and the secondary connecting rod 24 form a four-bar linkage. The first end of the telescopic driving member 25 is hinged to the fixed frame 21, and the second end of the telescopic driving member 25 is hinged to the main connecting rod 23 or the secondary connecting rod 24. When in use, the telescopic driving member 25 extends or retracts, which will cause the four-bar linkage composed of the fixed frame 21, the driving frame 22, the main connecting rod 23, and the secondary connecting rod 24 to deform, thereby driving the driving frame 22 to rise and fall. As another optional implementation, the second end of the telescopic driving member 25 can be hinged to the main connecting rod 23 or the auxiliary connecting rod 24, which can also realize the function of moving the driving frame 22 up and down, thereby driving the ground processing mechanism to move up and down.

[0047] It should be noted that in the technical solution of the present invention, the lifting drive member 52 and the telescopic drive member 25 are both electric push rods. As other optional implementations, the lifting drive member 52 and the telescopic drive member 25 can also be other forms of electric cylinders or pneumatic or hydraulic cylinders.

[0048] During the movement of the ground treatment robot, if the driving vehicle 10 encounters an uneven ground, it will cause the driving vehicle 10 to tilt left or right in the driving direction, and then drive the ground treatment mechanism to tilt through the connecting bracket 20, thereby causing uneven treatment of the concrete floor and affecting the construction quality. Therefore, as a preferred embodiment, Figure 8 and Fig. 9As shown, the connecting bracket 20 includes a four-bar linkage consisting of a fixed frame 21, a driving frame 22, a main connecting rod 23 and a secondary connecting rod 24. The fixed frame 21 is used to connect with the driving vehicle 10, the driving frame 22 is used to connect with the ground processing mechanism, the main connecting rod 23 is connected to the fixed frame 21 through a revolute joint, the secondary connecting rod 24 is connected to the fixed frame 21 through a ball joint, and the main connecting rod 23 and the secondary connecting rod 24 are respectively connected to the driving frame 22 through a ball joint. In this way, the four-bar linkage consisting of the fixed frame 21, the driving frame 22, the main connecting rod 23 and the secondary connecting rod 24 can maintain the motion characteristics of the parallelogram mechanism and have spatial flexibility. The advantage of this is that the ground processing mechanism can be driven to rise and fall and adjust its height through the connecting bracket 20. When the driving vehicle 10 encounters an uneven ground and tilts, the fixed frame 21 follows the driving vehicle 10 and tilts left and right. Since the secondary connecting rod 24 is connected to the fixed frame 21 through a ball joint, and the main connecting rod 23 and the secondary connecting rod 24 are respectively connected to the driving frame 22 through a ball joint, the fixed frame 21 connected to the driving vehicle 10 can drive the main connecting rod 23 and the secondary connecting rod 24 to twist relative to each other, while the driving frame 22 is still in the original vertical position under the action of the gravity of the ground processing mechanism, thereby avoiding the driving vehicle 10 from tilting left and right and linking the ground processing mechanism to tilt left and right, thereby ensuring the construction effect of uniform treatment of the concrete floor and ensuring the construction quality.

[0049] It should be noted that in the technical solution of the present invention, the concept of ball-joint connection refers to the movement mode of ball-joint connection from the mechanical principle, which can be specifically connected by at least two revolute pairs to form a ball-joint movement structure. Specifically, it can be a universal joint connector or a fisheye bearing. In the technical solution of the present invention, Figure 3 As shown, the above-mentioned ball pair adopts a fisheye bearing.

[0050] As another optional implementation, the secondary connecting rod 24 is connected to the fixed frame 21 through a revolute joint, the main connecting rod 23 is connected to the fixed frame 21 through a ball joint, the main connecting rod 23 and the secondary connecting rod 24 are respectively connected to the driving frame 22 through ball joints, and the fixed frame 21, the driving frame 22, the main connecting rod 23 and the secondary connecting rod 24 form a four-bar linkage, which can also achieve the effect of allowing the fixed frame 21, the main connecting rod 23, and the secondary connecting rod 24 to twist relative to each other while keeping the driving frame 22 in the original vertical position.

[0051] As a preferred embodiment, Figure 5 , Figure 8 and Fig. 9As shown, the first end of the movable hinge rod 26 is pivotally connected to one of the main connecting rod 23 and the secondary connecting rod 24 in a direction perpendicular to the plane where the connecting bracket 20 is located, and the second end of the movable hinge rod 26 is pivotally connected to the driving frame 22 along the pivot on the plane where the connecting bracket 20 is located. The movable hinge rod 26 and the pivot connection structure at both ends form a ball pair. When the ground processing mechanism can be driven to rise and fall to adjust the height through the connecting bracket 20, the main connecting rod 23 and the secondary connecting rod 24 swing along the axis direction perpendicular to the plane where the connecting bracket 20 is located, driving the driving frame 22 to rise and fall together with the movable hinge rod 26. When the driving vehicle 10 encounters an uneven ground and tilts, the fixed frame 21 tilts left and right with the driving vehicle 10, and the driving frame 22 rotates relative to the movable hinge rod 26 along the axis of the plane where the connecting bracket 20 is located, so that the driving frame 22 can maintain the original vertical position. In this way, the connecting bracket 20 can be given higher flexibility through the movable hinge rod 26. As another optional embodiment, the first end of the movable hinge rod 26 is pivotally connected to the secondary connecting rod 24 along a direction perpendicular to the plane where the connecting bracket 20 is located, and the second end of the movable hinge rod 26 is pivotally connected to the driving frame 22 along the plane where the connecting bracket 20 is located.

[0052] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0053] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0054] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A flexible turning ground handling robot, characterized in that: include: A driving vehicle (10) comprising a vehicle body (11) and a moving driving member (12) mounted on the vehicle body (11); a connecting bracket (20), wherein a first end of the connecting bracket (20) is rotatably mounted on the vehicle body (11) along a vertical axis, the first end of the connecting bracket (20) is connected to the vehicle body (11) via a first quick-release structure (30), and a second end of the connecting bracket (20) is connected to a ground handling mechanism via a second quick-release structure (40); A ground processing mechanism, fixedly mounted on the second end of the connecting bracket (20); The connecting bracket (20) comprises: a fixed frame (21) and a driving frame (22), wherein the fixed frame (21) is rotatably mounted on the vehicle body (11) along a vertical axis, and the driving frame (22) is connected to the ground processing mechanism; a main connecting rod (23) and a secondary connecting rod (24), wherein the main connecting rod (23) is hinged to a first end of the fixing frame (21) and a first end of the driving frame (22), respectively, and the secondary connecting rod (24) is hinged to a second end of the fixing frame (21) and a second end of the driving frame (22), respectively, and the fixing frame (21), the driving frame (22), the main connecting rod (23) and the secondary connecting rod (24) form a four-bar linkage; a telescopic driving member (25), wherein a first end of the telescopic driving member (25) is hinged to the fixing frame (21), and a second end of the telescopic driving member (25) is hinged to the main connecting rod (23) or the auxiliary connecting rod (24); One of the main connecting rod (23) and the auxiliary connecting rod (24) is connected to the fixed frame (21) via a revolute joint, the other of the main connecting rod (23) and the auxiliary connecting rod (24) is connected to the fixed frame (21) via a ball joint, the main connecting rod (23) and the auxiliary connecting rod (24) are respectively connected to the driving frame (22) via ball joints, and the fixed frame (21), the driving frame (22), the main connecting rod (23) and the auxiliary connecting rod (24) form a four-bar linkage.

2. The flexible turning ground handling robot according to claim 1, characterized in that: The first quick-release structure (30) comprises a clamping groove (31) provided on the vehicle body (11) and a clamping block (32) provided on the first end of the connecting bracket (20); the first end of the connecting bracket (20) is rotatably connected to the clamping block (32) along a vertical axis.

3. The flexible turning ground handling robot according to claim 1, characterized in that: The ground processing mechanism comprises a leveling mechanism (50) and a smoothing mechanism (60), and the connecting bracket (20) can be selectively connected to the leveling mechanism (50) or to the smoothing mechanism (60) via the second quick-release structure (40).

4. The flexible turning ground handling robot according to claim 3, characterized in that: There are multiple types of the leveling mechanisms (50), and the connecting bracket (20) can be selectively connected to one of the multiple types of the leveling mechanisms (50) via the second quick-release structure (40).

5. The flexible turning ground handling robot according to claim 3, characterized in that: There are multiple types of smoothing mechanisms (60), and the connecting bracket (20) can be selectively connected to one of the multiple types of smoothing mechanisms (60) via the second quick-release structure (40).

6. The flexible turning ground handling robot according to claim 3, characterized in that: The leveling mechanism (50) comprises: Frame body (51); Two lifting drive members (52) are installed on the frame body (51) at intervals; The scraper (53) is connected to the driving ends of the two lifting drive members (52) respectively through ball pairs, and the two lifting drive members (52) are used to drive the scraper (53) to move in the vertical direction.

7. The flexible turning ground handling robot according to claim 1, characterized in that: The connecting bracket (20) further comprises a movable hinge rod (26), a first end of the movable hinge rod (26) being pivotally connected to one of the main connecting rod (23) and the auxiliary connecting rod (24) in a direction perpendicular to the plane where the connecting bracket (20) is located, a second end of the movable hinge rod (26) being pivotally connected to the driving frame (22) along the plane where the connecting bracket (20) is located, and the movable hinge rod (26) and the pivot connection structure at both ends thereof form a ball joint.

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